Force sensor correcting method

ABSTRACT

The present invention provides a force sensor correcting method which is simple and capable of performing correction, with the force sensor remaining mounted at the end of an arm without an exchange of an end effector. In the present invention, a force sensor  1  of one robot  101  has already been corrected, and a force sensor  2  of the other robot  102  is an object to be corrected. First, hands  3   a,    3   b  of a pair of robots  101, 102  are made to abut on each other (abutting step). A detected signal of the corrected force sensor  1  of the one robot  101 , generated by execution of the abutting step, is converted into a measured value indicating a force or a moment (measurement step). Based on the measured value obtained in the measurement step, a value indicating a force or a moment acting on the hand  3   b  of the other robot  102  due to a reaction generated by the abutting step is obtained (calculation step). The conversion data is updated such that a detected signal, outputted by the force sensor  2  as the object to be corrected of the other robot  102  in the abutting step, is converted into an identical value to the value indicating the force or the moment obtained in the calculation step (correction step).

TECHNICAL FIELD

The present invention relates to a correcting method for a force sensormounted in a robot in a robot system.

BACKGROUND ART

There is known an industrial robot system which includes a robotprovided with an end effector such as a hand at the end of an arm via aforce sensor. In this kind of robot system, in the case of the robotperforming assembly of parts, a force or a moment component generated ata wrist portion at the time of an assembly operation is detected by theforce sensor, to control a posture of the robot including the hand.

At the manufacturing stage of a force sensor, variations in output withrespect to an external force occur, and hence the output needs to becorrected. Therefore, when the sensor is a six-axis force sensor,respective axes, such as forces Fx, Fy, Fz and moments Mx, My, Mz, areprovided with a force by means of weights or the like, to performcorrection based on the outputs. This corrected force sensor is mountedon the arm and used.

Meanwhile, when the robot mounted with the force sensor is in use, anexcessive load may be erroneously applied, to cause occurrence ofplastic deformation or the like, thereby leading to lower measurementaccuracy. In that case, what has been done is to temporarily remove theforce sensor from the arm and perform a re-correction operation, whichrequires time and trouble. As opposed to this, there has been proposedone that corrects a force sensor in a mounted state. For example, inJapanese Patent Application Laid-Open No. H11-237296, In PTL 1, first,reference data is previously acquired when the force sensor is normallyfunctioning. Then, when the force sensor needs to be corrected, thecorrection is performed such that a posture of a robot is changed in apredetermined pattern, thereby to change a posture of the force sensorand obtain a changed amount of an output signal of the force sensor,which is compared with reference data and then updated. It is describedthat by the above manner, the correction can be performed with the forcesensor remaining mounted in the robot.

However, in the foregoing conventional correcting method, the referencedata needs to be acquired beforehand. Further, there has been a problemin that, when an end effector provided at the end of the arm is not theend effector at the time of acquiring the reference data, the endeffector has to be exchanged, which requires time and trouble.

In recent years, a robot system provided with a pair of robots set so asto perform collaboration work has been proposed and a method forcorrecting a force sensor in a simpler manner in the case of a largenumber of robots has been desired.

Therefore, an object of the present invention is to provide a forcesensor correcting method which is simple and capable of performingcorrection, with the force sensor remaining mounted at the end of an armwithout an exchange of an end effector.

SUMMARY OF INVENTION

The present invention is a force sensor correcting method in a robotsystem which includes a pair of robots each having an arm and an endeffector provided at the end of the arm via a force sensor, the methodincluding an abutting step of making the end effectors of the pair ofrobots abut on each other, a measurement step of obtaining a firstdetected signal of the force sensor of one robot and a second detectedsignal of the force sensor of the other robot, generated by execution ofthe abutting step, and a correction step of updating conversion data ofthe other robot, which converts the second detected signal, outputted bythe force sensor of the other robot, into a value indicating a force ora moment such that the second detected signal is converted into anidentical value to a value indicating a force or a moment based on thefirst detected signal of the force sensor of the one robot.

According to the present invention, since the force sensor as an objectto be corrected is corrected with the corrected force sensor taken as areference, it is neither necessary to mount the end effector as areference and acquire reference data beforehand, nor to exchange the endeffector, thereby facilitating the correction.

Further features of the present invention will become apparent from thefollowing description of exemplary embodiments with reference to theattached drawings.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 is an illustrative view showing a schematic configuration of arobot system according to an embodiment of the present invention.

FIG. 2A is a view showing an example of a correcting method for a forceFx(Fy) in the force sensor.

FIG. 2B is a view showing an example of a correcting method of a momentMy(Mx) in the force sensor.

FIG. 2C is a view showing an example of a correcting method for a forceFz in the force sensor.

FIG. 2D is a view showing an example of a correcting method of a momentMz in the force sensor.

FIG. 3A is a view showing an example of a correcting method forcorrecting the force Fz of the force sensor as an object to be correctedby use of the force Fx acting on the corrected force sensor in the forcesensors in another embodiment.

FIG. 3B is a view showing an example of a correcting method forcorrecting the moment My of the force sensor as the object to becorrected by use of the force Fx acting on the corrected force sensor inthe force sensors in another embodiment.

FIG. 4 is an illustrative view showing a schematic configuration of arobot system according to still another embodiment of the presentinvention.

FIG. 5A is a view showing a state before position correction of therobot is performed in correction of the force sensor.

FIG. 5B is a view showing a state after the position correction of therobot has been performed in the correction of the force sensor.

FIG. 6A is a view showing a state before position correction of therobot is performed in correction of the force sensor in still anotherembodiment.

FIG. 6B is a view showing a state after the position correction of therobot has been performed in the correction of the force sensor in stillanother embodiment.

DESCRIPTION OF EMBODIMENTS

Thereinafter, an embodiment of the present invention will be describedin detail with reference to the drawings. FIG. 1 is an illustrative viewshowing a schematic configuration of a robot system according to anembodiment of the present invention. As shown in FIG. 1, a robot system100 includes a pair of robots 101, 102. Using the pair of robots 101,102 enables a collaboration work. The pair of robots 101, 102 has anidentical configuration, and is provided on a horizontal surface of arack 200, plane-symmetrically to a virtual vertical surface P. One robot101 has a multi-joint arm 4 a, and a hand 3 a as an end effector fittedto the end (wrist part) of the arm 4 a via a force sensor 1. Further,the other robot 102 has a multi-joint arm 4 b, and a hand 3 b as an endeffector fitted to the end (wrist part) of the arm 4 b via a forcesensor 2. Base ends of the respective arms 4 a, 4 b are fixed to thehorizontal surface of the rack 200. The respective arms 4 a, 4 b aremulti-joint ones each having a horizontal joint, a vertical joint, andthe like, and each joint is provided with a driving unit such as amotor, not shown. Further, the robot system 100 includes a forcemeasuring device 5, a robot controlling device 6, and a controller 7.

The force sensors 1, 2 are, for example, six-axis force sensors, andones for detecting mutually orthogonal three force components Fx, Fy,Fz, and three moments Mx, My, Mz around the axes thereof. The respectiveforce sensors 1, 2 have a plurality of detecting elements, not shown,and voltages as detected signals d1, d2 are outputted from therespective detecting elements. Hereinafter, the voltage outputted by theforce sensor 1 is referred to as a first detected signal d1, and thevoltage outputted by the force sensor 2 as a second detected signal d2.

The first detected signal d1 and the second detected signal d2 areinputted into the force measuring device 5. The force measuring device 5has a calculating unit 51 that performs calculation to convert theinputted first detected signal d1 into a first measured value D1 as avalue indicating a force or a moment based on first conversion data c1.Further, the force measuring device 5 has a storing unit 52 that storesthe first conversion data c1 to convert the first detected signal d1into the first measured value D1. That is, the calculating unit 51 readsthe first conversion data c1 from the storing unit 52, to convert thefirst detected signal d1 into the first measured value D1. Further, thecalculating unit 51 of the force measuring device 5 performs calculationto convert the inputted second detected signal d2 into a second measuredvalue D2 as a value indicating a force or a moment based on secondconversion data c2. Moreover, the storing unit 52 of the force measuringdevice 5 stores the second conversion data c2 to convert the seconddetected signal d2 into a second measured value D2. That is, thecalculating unit 51 reads the second conversion data c2 from the storingunit 52, to convert the second detected signal d2 into the secondmeasured value D2. The conversion data c1, c2 stored in the storing unit52 are conversion parameters, such as a matrix, a conversion equation, aconversion table, and the like, for converting, for example, voltagevalues indicating the detected signals d1, d2 into the measured valuesD1, D2 indicating a force or a moment.

The controller 7 serves to exercise control all over the system, andbased on the respective inputted measured values D1, D2, operationcommands i1, i2 to the respective robots 101, 102 are outputted to therobot controlling device 6. The robot controlling device 6 is one thatsupplies currents I1, I2 corresponding to the operation command i1, i2to the motors, not shown, provided in the robots 101, 102, to actuatethe motors so as to actuate the robots 101, 102.

Incidentally, there are cases where the force sensors 1, 2 deterioratedue to an excessive load or a secular change, to cause lower accuracy,thus requiring correction. In the present embodiment, the force sensor 1is the corrected force sensor, and the force sensor 2 is the forcesensor as the object to be corrected. Herein, the corrected force sensoris a force sensor that has hardly deteriorated due to an excessive loador a secular change, and holds its accuracy. The force sensor 2 is aforce sensor that has deteriorated due to an excessive load or a secularchange, and is suspected to have lower accuracy. Hereinafter, there willbe described a correcting method for the force sensor that updates theconversion data c2 for converting the detected signal d2, outputted bythe force sensor 2 as the object to be corrected, into a valueindicating force or a moment.

FIGS. 2A to 2D are views for illustrating the correcting method for theforce sensor 2. Herein, the force sensors 1, 2 will be described assix-axis force sensors each being capable of detecting the force Fx inan X-axis direction, the force Fy in a Y-axis direction, the force Fz ina Z-axis direction, the moment Mx in the X-axis direction, the moment Myin the Y-axis direction, and the moment Mz in the Z-axis direction.

1. Correcting Method for Force Fx(Fy)

FIG. 2A shows an example of a correcting method for the force Fx(Fy).First, the controller 7 actuates the pair of robots 101, 102 such thatthe hands 3 a, 3 b as the respective end effectors of the robots 101,102 abut on each other via the robot controlling device 6 (abuttingstep). In this case, the pair of robots 101, 102 are activated such thatthe respective robots 101, 102 have plane-symmetrical postures withrespect to a Y-Z plane (virtual plane) P1. Then, the robot 101 is movedin the X direction and the robot 102 is moved in the −X direction, tobring the hands 3 a, 3 b into contact with each other. At that time,magnitudes of the force Fx in the X-axis direction that occur in theforce sensors 1, 2 are identical according to the law of action andreaction.

Next, the calculating unit 51 of the force measuring device 5 convertsthe detected signal d1 of the corrected force sensor 1 of the one robot101, generated by execution of the abutting step, into the measuredvalue D1 indicating the force Fx by use of the conversion datac1(measurement step). In the case of FIG. 2A, the measured value D1 is−fx.

Next, based on the measured value D1 obtained in the measurement step,the calculating unit 51 of the force measuring device 5 obtains a valuefx indicating the force Fx acting on the hand 3 b of the other robot 102due to a reaction generated by the abutting step (calculation step).Specifically, since the measured value D1 is −fx and fx is acting on thehand 3 b by the reaction, the calculating unit 51 performs calculationfor inverting the sign of the measured value D1, thereby to obtain thevalue fx.

Next, the calculating unit 51 of the force measuring device 5 updatesconversion data c2 such that a detected signal d2, outputted by theforce sensor 2 of the other robot 102 in the abutting step, is convertedinto an identical value to the value fx indicating the force Fx,obtained in the calculation step (correction step). Thereby, the forceFx of the force sensor 2 is corrected. Further, it is found that, whenthe arms 4 a, 4 b are rotated by 90° in the Z-axis direction, the forceFy of the force sensor 2 can also be corrected in the same manner asabove.

2. Correcting Method for Moment My(Mx)

FIG. 2B shows an example of a correcting method for the moment My(Mx).In this case, as the abutting step, the robot 101 having the hand 3 amounted with the corrected force sensor 1 and the robot 102 having thehand 3 b mounted with the force sensor 2 as the object to be correctedare moved so as to have plane-symmetrical postures at a predeterminedangle with respect to the Y-Z plane P1. The arm 4 a is moved in the Xdirection and the arm 4 b is moved in the −X direction, to bring thehands 3 a, 3 b of both arms into contact with each other. With thecontact having the predetermined angle, the force is generated in aplace distant from the mounting surfaces of the force sensors 1, 2, andthereby, a moment −my is detected by the force sensor 1. Hereinafter, itis found that Mx and My can be corrected in the same manner as (1.Correcting method for Fx(Fy)).

That is, the calculating unit 51 of the force measuring device 5converts the detected signal d1 of the corrected force sensor 1 of theone robot 101, generated by execution of the abutting step, into themeasured value D1(−my) indicating the moment My by use of the conversiondata c1(measurement step). Next, based on the measured value D1 obtainedin the measurement step, the calculating unit 51 of the force measuringdevice 5 obtains a value my indicating the moment My acting on the hand3 b of the other robot 102 due to a reaction generated by the abuttingstep (calculation step). Next, the calculating unit 51 of the forcemeasuring device 5 updates the conversion data c2 such that the detectedsignal d2, outputted by the force sensor 2 of the other robot 102 in theabutting step, is converted into an identical value to the value myindicating the moment My, obtained in the calculation step (correctionstep). Thereby, the moment My of the force sensor 2 has been corrected.This also applies to the moment Mx.

3. Correcting Method for Force Fz and Moment Mz

FIG. 2C shows an example of a correcting method for the force Fz, andFIG. 2D shows an example of a correcting method for the moment Mz. Inthis case, as the abutting step, the robot 101 having the hand 3 amounted with the corrected force sensor 1 and the robot 102 having thehand 3 b mounted with the force sensor 2 as the object to be correctedare moved so as to have plane-symmetrical postures with respect to anX-Y plane (virtual plane) P2. Correction of the force Fz is performed bymoving the arm 4 a in a Z direction and the arm 4 b in a −Z direction,to generate a force of Fz. Correction of the moment Mz is performed suchthat, for example in the six-axis vertical multi-joint, a portioncorresponding to an axis J6 is rotated, to generate a force of Mz.

Hereinafter, according to the present embodiment, the force sensor 2 asthe object to be corrected is corrected with the corrected force sensor1 taken as a reference. Therefore, at the time of correcting the forcesensor 2, it is neither necessary to fit an end effector as a referencefor acquiring reference data beforehand, nor to exchange the endeffector. Accordingly, correction of the force sensor 2 is simplified,and the force sensor 2 can be corrected with high accuracy whileremaining mounted at the end of the arm 4 b.

It is to be noted that, although the Y-Z plane (virtual plane) P1 andthe X-Y plane (virtual plane) P2 are considered as different virtualplanes, they may be an identical virtual plane, and in this case, it maybe the virtual vertical plane P shown in FIG. 1.

Herein, changes in the end effector and the arm, or the like, may occurdue to a change in production process, or the like. When lengths of theend effector and the arm change, a contact point may be displaced froman assumed one, thereby leading to lower correction accuracy. As acountermeasure against that, shapes of the end effector and the arm maybe included in the parameters of the robot controlling device andposition correction may then be performed, but it requires time andtrouble.

Accordingly, in the present embodiment, as shown in FIG. 1 and FIGS. 2Ato 2D, the robot 101 mounted with the corrected force sensor 1 and therobot 102 mounted with the force sensor 2 as the object to be correctedare made to have plane-symmetrical postures with respect to the virtualvertical plane P, thereby bringing the hands 3 a, 3 b into contact witheach other. Even when shapes of the hand 3 a (3 b) and the arm 4 a (4 b)are changed, the contact positions become plane-symmetrical, therebyfacilitating the correction regardless of the shapes of the hand 3 a (3b) and the arm 4 a (4 b). From the above, it is found possible toprovide a simple method in which the force sensor 2 can be correctedwhile remaining mounted in the robot 102.

Next, there will be described a correcting method for the force sensor 2as the object to be corrected in another embodiment. The correctingmethod shown so far has been a method for the force sensors 1, 2 withthe same axis. However, the method is not restricted thereto, butcorrection of the force sensor 2 is possible so long as a force or amoment acting on the force sensor 2 as the object to be corrected can bemeasured.

FIGS. 3A and 3B are views each showing the correcting method for theforce sensor 2 in another embodiment. Hereinafter, a description will begiven with reference to FIGS. 3A and 3B. FIG. 3A shows an example of acorrecting method for the force Fz of the force sensor 2 as the objectto be corrected by use of the force Fx acting on the corrected forcesensor 1. As the abutting step, the hand 3 a mounted with the correctedforce sensor 1 and the hand 3 b mounted with the force sensor 2 as theobject to be corrected are moved so as to be orthogonal to each other.Then, the arm 4 a is moved in the −Z direction and the arm 4 b is movedin the Z direction, to bring the hands 3 a, 3 b into contact with eachother. Thereby, a force of −fx is generated in the corrected forcesensor 1, and the force fz with the same magnitude as fx is generated inthe force sensor 2 as the object to be corrected. This is used tocorrect the force sensor 2.

Specifically describing, the calculating unit 51 of the force measuringdevice 5 converts the detected signal d1 of the corrected force sensor 1of the one robot 101, generated by execution of the abutting step, intothe measured value D1(−fx) indicating the force Fx by use of theconversion data c1(measurement step). Next, based on the measured valueD1(−fx) obtained in the measurement step, the calculating unit 51 of theforce measuring device 5 obtains a value fz indicating the force Fzacting on the hand 3 b of the other robot 102 due to a reactiongenerated by the abutting step (calculation step). Next, the calculatingunit 51 of the force measuring device 5 updates conversion data c2 suchthat the detected signal d2, outputted by the force sensor 2 of theother robot 102 in the abutting step, is converted into an identicalvalue to the value fz indicating the force Fz obtained in thecalculation step (correction step).

Next, FIG. 3B shows an example of a correcting method for the moment Myof the force sensor 2 as the object to be corrected through use of theforce Fx on the corrected force sensor 1. As the abutting step, the hand3 a mounted with the corrected force sensor 1 and the hand 3 b mountedwith the force sensor 2 as the object to be corrected are moved so as tobe orthogonal to each other. Then, the arm 4 a is moved in the Xdirection and the arm 4 b is moved in the −X direction, to bring theends of the hands 3 a, 3 b into contact with each other. Thereby, theforce Fz with the value fz is generated in the corrected force sensor 1,and the moment My with the value my is generated in the force sensor 2as the object to be corrected. The magnitude of the value my of themoment My is: my=fz×L, where the length of the hand 3 b is L. This isused to correct the force sensor 2.

Specifically describing, the calculating unit 51 of the force measuringdevice 5 converts the detected signal d1 of the corrected force sensor 1of the one robot 101, generated by execution of the abutting step, intothe measured value D1(fz) indicating the force Fz by use of theconversion data c1(measurement step). Next, based on the measured valueD1(fz) obtained in the measurement step, the calculating unit 51 of theforce measuring device 5 obtains, by calculation of my=fz×L, the valuemy indicating the moment My acting on the hand 3 b of the other robot102 due to a reaction generated by the abutting step (calculation step).Next, the calculating unit 51 of the force measuring device 5 updatesthe conversion data c2 such that the detected signal d2, outputted bythe force sensor 2 of the other robot 102 in the abutting step, isconverted into an identical value to the value my indicating the momentMy obtained in the calculation step (correction step). In such a manner,when the sensor is the six-axis sensor, there can be performed 36 (=6×6)different correcting methods.

Next, a correcting method for the force sensor in still anotherembodiment will be described. In this embodiment, position correction bymeans of a camera is used to correct the force sensor 2 as the object tobe corrected. FIG. 4 is an illustrative view showing a schematicconfiguration of a robot system according to still another embodiment ofthe present invention. In the arm made up of a horizontal multi-joint, avertical multi-joint, and the like, an error might occur with respect toa position command from the robot controlling device. Thereat, a robotsystem 100A shown in FIG. 4 includes similar devices to the respectivedevices shown in the robot system 100 of FIG. 1, and also includes avision measuring device 9 that performs processing on a camera 8 and animage taken by the camera 8.

FIGS. 5A and 5B are views for illustrating a correcting method for theforce sensor, where FIG. 5A shows a state before position correction ofthe robots 101, 102 is performed, and FIG. 5B shows a state afterposition correction of the robots 101, 102 has been performed. In theabutting step, as shown in FIG. 5A, the hand 3 a and the hand 3 b may bedisplaced from a predetermined corrected position. Thereat, the camera 8is used to perform position correction of the respective robots 101, 102in the following procedure.

In the abutting step, first, the hands 3 a, 3 b of the pair of robots101, 102 are imaged by the camera 8, to acquire images. The visionmeasuring device 9 processes the image transmitted from the camera 8, tocalculate an error from the predetermined corrected position. Thatcalculation result is transmitted to the controller 7, and positioncommands are given to the arms 4 a, 4 b through the robot controllingdevice 6, to perform position correction of the pair of robots 101, 102.Once again, images of the hands 3 a, 3 b are acquired with the camera 8,and when an error from the predetermined correcting position is withinan allowable range, the position correcting operation is completed.Then, as shown in FIG. 5B, the hands 3 a, 3 b of the pair of robots 101,102 are made to abut on each other. It should be noted that themeasurement step, the calculation step and the correction step aresimilar to in the foregoing embodiments, and descriptions thereof thuswill not be repeated.

In such a manner, correction including position correction of the hands3 a, 3 b and the arms 4 a, 4 b with the camera 8 is performed, to makeit possible to execute the correction operation for the force sensor 2with higher accuracy.

Next, a correcting method for the force sensor in still anotherembodiment will be described. FIGS. 6A and 6B are views for illustratinga correcting method for the force sensor in still another embodiment,where FIG. 6A shows a state before position correction of the robots101, 102 is performed, and FIG. 6B shows a state after positioncorrection of the robots 101, 102 has been performed. In thisembodiment, concavo-convex units 10 a, 10 b for positioning, which canbe fitted into each other, are formed in the respective hands 3 a, 3 b.Herein, the concavo-convex unit 10 a of the hand 3 a and theconcavo-convex unit 10 b of the hand 3 b are designed so as to have afitting tolerance being a position error within a correction accuracyallowable range.

In the abutting process, the controller 7 is manually operated such thatthe concavo-convex units 10 a, 10 b of the respective hands 3 a, 3 b arefitted into each other, to allow minor adjustment of the arms 4 a, 4 bthrough the robot controlling device 6. Thereby, positioning of therespective hands 3 a, 3 b is performed. As another method, the arm 4 acan be activated by impedance control by use of the value of thecorrected force sensor 1 of the hand 3 a, which is generated at the timeof the operation to fit the concavo-convex units 10 a, 10 b. Since theimpedance control by means of the force sensor is a known technique, adescription thereof will be omitted. With the impedance controlperformed manually or by means of the corrected force sensor 1, theposition correcting operation is completed. It should be noted that themeasurement step, the calculation step and the correction step aresimilar to in the foregoing embodiments, and descriptions thereof thuswill not be repeated.

In such a manner, the concavo-convex units 10 a, 10 b of the hands 3 a,3 b are used to perform positioning of the hands 3 a, 3 b, thereby to beable to execute the operation to correct the force sensor 2 with higheraccuracy.

The present invention is preferably applicable to an industrial assemblyrobot, and the like.

While the present invention has been described with reference toexemplary embodiments, it is to be understood that the invention is notlimited to the disclosed exemplary embodiments. The scope of thefollowing claims is to be accorded the broadest interpretation so as toencompass all such modifications and equivalent structures andfunctions.

This application claims the benefit of Japanese Patent Application No.2010-150245, filed Jun. 30, 2010, which is hereby incorporated byreference herein in its entirety.

The invention claimed is:
 1. A force sensor correcting method in a robotsystem which includes a pair of robots each having an arm and an endeffector provided at the end of the arm via a force sensor for sensing aforce and a moment, the method comprising: a first abutting step ofmaking the force sensor of the pair of robots abut on each other byactivating the pair of robots such that the respective robots haveplane-symmetrical postures with respect to a virtual plane; a firstmeasurement step of obtaining a first value indicating a force of theforce sensor of one robot and a second value indicating a force of theforce sensor of the other robot, generated by execution of the firstabutting step; a first correction step of updating a first conversiondata of the force sensor of the other robot, which converts the secondvalue into the first value; a second abutting step of making ends of theend effectors of the pair of robots abut on each other and making theforce sensors of the pair of robots be spaced away from each other byactivating the pair of robots such that the respective robots haveplane-symmetrical postures with respect to the virtual plane; a secondmeasurement step of obtaining a third value indicating a moment of theforce sensor of one robot and a fourth value indicating a moment of theforce sensor of the other robot, generated by execution of the secondabutting step; and a second correction step of updating a secondconversion data of the force sensor of the other robot, which convertsthe fourth value into the third value.
 2. The force sensor correctingmethod according to claim 1, wherein concavo-convex units that can befitted into each other are formed in the respective end effectors, andin the first abutting step, positioning is performed with theconcavo-convex units of the respective end effectors being fitted intoeach other.
 3. The force sensor correcting method according to claim 1,wherein in the first and second abutting steps, the pair of robots isimaged, to perform position correction of the pair of robots, and theend effectors of the pair of robots are made to abut on each other. 4.The force sensor correcting method according to claim 1, wherein theforce sensor of the one robot is already corrected before performing theforce sensor correcting method.